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<div class="header">
  <div class="headertitle"><div class="title">Quaternion.hpp</div></div>
</div><!--header-->
<div class="contents">
<a href="_quaternion_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#include &lt;array&gt;</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#include &quot;<a class="code" href="_error_8hpp.html">NumCpp/Core/Internal/Error.hpp</a>&quot;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#include &quot;<a class="code" href="_stl_algorithms_8hpp.html">NumCpp/Core/Internal/StlAlgorithms.hpp</a>&quot;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#include &quot;<a class="code" href="_types_8hpp.html">NumCpp/Core/Types.hpp</a>&quot;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#include &quot;<a class="code" href="argmax_8hpp.html">NumCpp/Functions/argmax.hpp</a>&quot;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="preprocessor">#include &quot;<a class="code" href="clip_8hpp.html">NumCpp/Functions/clip.hpp</a>&quot;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="preprocessor">#include &quot;<a class="code" href="dot_8hpp.html">NumCpp/Functions/dot.hpp</a>&quot;</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="preprocessor">#include &quot;<a class="code" href="norm_8hpp.html">NumCpp/Functions/norm.hpp</a>&quot;</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="preprocessor">#include &quot;<a class="code" href="square_8hpp.html">NumCpp/Functions/square.hpp</a>&quot;</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="preprocessor">#include &quot;<a class="code" href="hat_8hpp.html">NumCpp/Linalg/hat.hpp</a>&quot;</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="preprocessor">#include &quot;<a class="code" href="_nd_array_8hpp.html">NumCpp/NdArray.hpp</a>&quot;</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="preprocessor">#include &quot;<a class="code" href="essentially_equal_8hpp.html">NumCpp/Utils/essentiallyEqual.hpp</a>&quot;</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="preprocessor">#include &quot;<a class="code" href="num2str_8hpp.html">NumCpp/Utils/num2str.hpp</a>&quot;</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="preprocessor">#include &quot;<a class="code" href="sqr_8hpp.html">NumCpp/Utils/sqr.hpp</a>&quot;</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="preprocessor">#include &quot;<a class="code" href="_vec3_8hpp.html">NumCpp/Vector/Vec3.hpp</a>&quot;</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacenc_1_1rotations.html">nc::rotations</a></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>{</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="comment">//================================================================================</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="comment">// Class Description:</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html">   55</a></span><span class="comment"></span>    <span class="keyword">class </span><a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    {</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="keyword">public</span>:</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">   62</a></span><span class="comment"></span>        <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a8c498c295071b8b787902044bf87d34d">   72</a></span><span class="comment"></span>        <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a8c498c295071b8b787902044bf87d34d">Quaternion</a>(<span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a>, <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a>, <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a>) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        {</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>            eulerToQuat(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a>, <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a>, <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a>);</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        }</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a3ba2fb2c68554ec78a0957dc1fd7752d">   86</a></span><span class="comment"></span>        <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3ba2fb2c68554ec78a0957dc1fd7752d">Quaternion</a>(<span class="keywordtype">double</span> inI, <span class="keywordtype">double</span> inJ, <span class="keywordtype">double</span> inK, <span class="keywordtype">double</span> inS) noexcept :</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>            components_{ inI, inJ, inK, inS }</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        {</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>            normalize();</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        }</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a50d742e97e4eb6bf156623b544d5b0a1">   98</a></span><span class="comment"></span>        <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a50d742e97e4eb6bf156623b544d5b0a1">Quaternion</a>(<span class="keyword">const</span> std::array&lt;double, 4&gt;&amp; components) noexcept :</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>            components_{ components }</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>        {</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>            normalize();</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        }</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#addcc7fb7b4acd4201e7f5b90ef207f4d">  112</a></span><span class="comment"></span>        <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#addcc7fb7b4acd4201e7f5b90ef207f4d">Quaternion</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; inArray) :</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>            components_{ 0., 0., 0., 0. }</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        {</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>            <span class="keywordflow">if</span> (inArray.<a class="code hl_function" href="classnc_1_1_nd_array.html#a055875abbe80163ca91328c0fa8ffbfa">size</a>() == 3)</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>            {</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>                <span class="comment">// euler angles</span></div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>                eulerToQuat(inArray[0], inArray[1], inArray[2]);</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>            }</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (inArray.<a class="code hl_function" href="classnc_1_1_nd_array.html#a055875abbe80163ca91328c0fa8ffbfa">size</a>() == 4)</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>            {</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>                <span class="comment">// quaternion i, j, k, s components</span></div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>                <a class="code hl_function" href="namespacenc_1_1stl__algorithms.html#ae62a4e197ec640aacea520220bd27cef">stl_algorithms::copy</a>(inArray.<a class="code hl_function" href="classnc_1_1_nd_array.html#a0bee49339bdc4d7edbeb5efa73133cc3">cbegin</a>(), inArray.<a class="code hl_function" href="classnc_1_1_nd_array.html#aa16bc96e4bbafbc8a06743f3e4a10a6a">cend</a>(), components_.begin());</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>                normalize();</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>            }</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (inArray.<a class="code hl_function" href="classnc_1_1_nd_array.html#a055875abbe80163ca91328c0fa8ffbfa">size</a>() == 9)</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>            {</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>                <span class="comment">// direction cosine matrix</span></div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>                dcmToQuat(inArray);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>            }</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>            <span class="keywordflow">else</span></div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>            {</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>                <a class="code hl_define" href="_error_8hpp.html#af2aff1172060367b9c5398fa097fa8fd">THROW_INVALID_ARGUMENT_ERROR</a>(<span class="stringliteral">&quot;input array is not a valid size.&quot;</span>);</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>            }</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        }</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#abbacae2cb36d4f7e93e1cf130f8ca6b4">  144</a></span><span class="comment"></span>        <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#abbacae2cb36d4f7e93e1cf130f8ca6b4">Quaternion</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a>&amp; inAxis, <span class="keywordtype">double</span> inAngle) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>        {</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>            <span class="comment">// normalize the input vector</span></div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>            <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a> normAxis = inAxis.<a class="code hl_function" href="classnc_1_1_vec3.html#a6356b462b11a156b923a7c79b9747c25">normalize</a>();</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span> </div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> halfAngle    = inAngle / 2.;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> sinHalfAngle = <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(halfAngle);</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>            components_[0] = normAxis.<a class="code hl_variable" href="classnc_1_1_vec3.html#a7f71dd08d58a1327739de6041e3362bb">x</a> * sinHalfAngle;</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>            components_[1] = normAxis.<a class="code hl_variable" href="classnc_1_1_vec3.html#a969dd1c195f4c78fc3a93292391e29c1">y</a> * sinHalfAngle;</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>            components_[2] = normAxis.<a class="code hl_variable" href="classnc_1_1_vec3.html#a0896ee691f46ce0bd669b869fe6acb41">z</a> * sinHalfAngle;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>            components_[3] = <a class="code hl_function" href="namespacenc.html#a736de91eb8f79bfaf4dc92d7161f1c87">std::cos</a>(halfAngle);</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>        }</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a81b7db9d5e593a61272e09ce7dcc1325">  165</a></span><span class="comment"></span>        <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a81b7db9d5e593a61272e09ce7dcc1325">Quaternion</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; inAxis, <span class="keywordtype">double</span> inAngle) :</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>            <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>(<a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a>(inAxis), inAngle)</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        {</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        }</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a184f5c55ea78128aec0ad4f72b4d5a59">  176</a></span><span class="comment"></span>        [[nodiscard]] <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a184f5c55ea78128aec0ad4f72b4d5a59">angleOfRotation</a>() const noexcept</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        {</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>            <span class="keywordflow">return</span> 2. * std::acos(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>());</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>        }</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#aeef47bcd4879e9727ac33838aaac3112">  191</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aeef47bcd4879e9727ac33838aaac3112">angularVelocity</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat1, <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat2, <span class="keywordtype">double</span> inTime)</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>        {</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> q0 = inQuat1.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a68e07632cd09569ad607cb802b400ded">toNdArray</a>();</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> q1 = inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a68e07632cd09569ad607cb802b400ded">toNdArray</a>();</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span> </div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> qDot = q1 - q0;</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>            qDot /= inTime;</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span> </div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> eyeTimesScalar(3);</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>            eyeTimesScalar.<a class="code hl_function" href="classnc_1_1_nd_array.html#a0b05b0b1831bd96b1057f2788795f93f">zeros</a>();</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>            eyeTimesScalar(0, 0) = inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>();</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>            eyeTimesScalar(1, 1) = inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>();</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>            eyeTimesScalar(2, 2) = inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>();</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> epsilonHat = linalg::hat&lt;double&gt;(inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>(), inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>(), inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>());</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> q(4, 3);</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>            q.<a class="code hl_function" href="classnc_1_1_nd_array.html#afcfdb9f8bbbc9f9f920fe35c7af6a8ff">put</a>(<a class="code hl_class" href="classnc_1_1_slice.html">Slice</a>(0, 3), <a class="code hl_class" href="classnc_1_1_slice.html">Slice</a>(0, 3), eyeTimesScalar + epsilonHat);</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>            q(3, 0) = -inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>();</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>            q(3, 1) = -inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>();</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>            q(3, 2) = -inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>();</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> omega = q.<a class="code hl_function" href="classnc_1_1_nd_array.html#a29c62da7ad489f4fc0bc706800820807">transpose</a>().<a class="code hl_function" href="classnc_1_1_nd_array.html#a34aa597b3fac40690041518dc3132ccc">dot</a>(qDot.<a class="code hl_function" href="classnc_1_1_nd_array.html#a29c62da7ad489f4fc0bc706800820807">transpose</a>());</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>            <span class="keywordflow">return</span> omega *= 2.;</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>        }</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a3ec3451b38b4ec0e10c1e9229685c8b7">  225</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3ec3451b38b4ec0e10c1e9229685c8b7">angularVelocity</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat2, <span class="keywordtype">double</span> inTime)<span class="keyword"> const</span></div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aeef47bcd4879e9727ac33838aaac3112">angularVelocity</a>(*<span class="keyword">this</span>, inQuat2, inTime);</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>        }</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#ae64d991c058b8646a98682fc8b3c1e18">  236</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ae64d991c058b8646a98682fc8b3c1e18">axisOfRotation</a>() const noexcept</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>        {</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>            <span class="keyword">const</span> <span class="keyword">auto</span> halfAngle    = <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a184f5c55ea78128aec0ad4f72b4d5a59">angleOfRotation</a>() / 2.;</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>            <span class="keyword">const</span> <span class="keyword">auto</span> sinHalfAngle = <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(halfAngle);</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>            <span class="keyword">auto</span>       axis         = <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>() / sinHalfAngle, <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>() / sinHalfAngle, <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>() / sinHalfAngle);</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span> </div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>            <span class="comment">// shouldn&#39;t be necessary, but let&#39;s be pedantic</span></div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>            <span class="keywordflow">return</span> axis.normalize();</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>        }</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#ade406544e8360506bb77102d17b14e61">  252</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ade406544e8360506bb77102d17b14e61">conjugate</a>() const noexcept</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>        {</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>            <span class="keywordflow">return</span> { -<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>(), -<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>(), -<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>(), <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>() };</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>        }</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span> </div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">  263</a></span><span class="comment"></span>        [[nodiscard]] <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>() const noexcept</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>        {</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>            <span class="keywordflow">return</span> components_[0];</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>        }</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span> </div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#ae093d333b66b63eeef5704be4a374af2">  274</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ae093d333b66b63eeef5704be4a374af2">identity</a>() noexcept</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>        {</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>            <span class="keywordflow">return</span> {};</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>        }</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span> </div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a9b0634474b2ff27f9443ba256ea00ab1">  285</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a9b0634474b2ff27f9443ba256ea00ab1">inverse</a>() const noexcept</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>        {</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ade406544e8360506bb77102d17b14e61">conjugate</a>();</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>        }</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span> </div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">  297</a></span><span class="comment"></span>        [[nodiscard]] <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>() const noexcept</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>        {</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>            <span class="keywordflow">return</span> components_[1];</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>        }</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span> </div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">  308</a></span><span class="comment"></span>        [[nodiscard]] <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>() const noexcept</div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>        {</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>            <span class="keywordflow">return</span> components_[2];</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>        }</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span> </div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a314478702a3da52f2be3f422057d8732">  322</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a314478702a3da52f2be3f422057d8732">nlerp</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat1, <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat2, <span class="keywordtype">double</span> inPercent)</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>        {</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>            <span class="keywordflow">if</span> (inPercent &lt; 0. || inPercent &gt; 1.)</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>            {</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>                <a class="code hl_define" href="_error_8hpp.html#af2aff1172060367b9c5398fa097fa8fd">THROW_INVALID_ARGUMENT_ERROR</a>(<span class="stringliteral">&quot;input percent must be of the range [0,1].&quot;</span>);</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>            }</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span> </div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>            <span class="keywordflow">if</span> (<a class="code hl_function" href="namespacenc_1_1utils.html#a963b90e7c9a3b057a924298750ddf74c">utils::essentiallyEqual</a>(inPercent, 0.))</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>            {</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>                <span class="keywordflow">return</span> inQuat1;</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>            }</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>            <span class="keywordflow">if</span> (<a class="code hl_function" href="namespacenc_1_1utils.html#a963b90e7c9a3b057a924298750ddf74c">utils::essentiallyEqual</a>(inPercent, 1.))</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>            {</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>                <span class="keywordflow">return</span> inQuat2;</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>            }</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span> </div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>            <span class="keyword">const</span> <span class="keywordtype">double</span>          oneMinus = 1. - inPercent;</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>            std::array&lt;double, 4&gt; newComponents{};</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span> </div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>            <a class="code hl_function" href="namespacenc_1_1stl__algorithms.html#a616d5dabd547326285946d0014361ab4">stl_algorithms::transform</a>(inQuat1.components_.begin(),</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>                                      inQuat1.components_.end(),</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>                                      inQuat2.components_.begin(),</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>                                      newComponents.begin(),</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>                                      [inPercent, oneMinus](<span class="keywordtype">double</span> component1, <span class="keywordtype">double</span> component2) -&gt; <span class="keywordtype">double</span></div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>                                      { return oneMinus * component1 + inPercent * component2; });</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span> </div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>            <span class="keywordflow">return</span> { newComponents };</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>        }</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span> </div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#ab055510c1338490b957de867cecaf790">  359</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ab055510c1338490b957de867cecaf790">nlerp</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat2, <span class="keywordtype">double</span> inPercent)<span class="keyword"> const</span></div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a314478702a3da52f2be3f422057d8732">nlerp</a>(*<span class="keyword">this</span>, inQuat2, inPercent);</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>        }</div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span> </div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">  370</a></span><span class="comment"></span>        [[nodiscard]] <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a>() const noexcept</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>        {</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>            <span class="keywordflow">return</span> std::asin(2 * (<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>() - <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>()));</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        }</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span> </div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#aff32c4f1c065428e8ed31e552a1c8e53">  382</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aff32c4f1c065428e8ed31e552a1c8e53">pitchRotation</a>(<span class="keywordtype">double</span> inAngle) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>        {</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>            <span class="keywordflow">return</span> { 0., inAngle, 0. };</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>        }</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span> </div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a815d72f9b492ff821077d5d4652b7985">  391</a></span><span class="comment"></span>        <span class="keywordtype">void</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a815d72f9b492ff821077d5d4652b7985">print</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>            std::cout &lt;&lt; *<span class="keyword">this</span>;</div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>        }</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span> </div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">  402</a></span><span class="comment"></span>        [[nodiscard]] <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a>() const noexcept</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>        {</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>            <span class="keywordflow">return</span> std::atan2(2. * (<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>() + <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>()), 1. - 2. * (<a class="code hl_function" href="namespacenc_1_1utils.html#ae792e10a24b7e5b8291a6c31a28a4512">utils::sqr</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>()) + <a class="code hl_function" href="namespacenc_1_1utils.html#ae792e10a24b7e5b8291a6c31a28a4512">utils::sqr</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>())));</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>        }</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span> </div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a34f25fa102a594dff4679d74837001ce">  414</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a34f25fa102a594dff4679d74837001ce">rollRotation</a>(<span class="keywordtype">double</span> inAngle) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>        {</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>            <span class="keywordflow">return</span> { inAngle, 0., 0. };</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>        }</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span> </div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a864a93abf9478d9f47fd9eadeb745b18">  426</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a864a93abf9478d9f47fd9eadeb745b18">rotate</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; inVector)<span class="keyword"> const</span></div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>            <span class="keywordflow">if</span> (inVector.<a class="code hl_function" href="classnc_1_1_nd_array.html#a055875abbe80163ca91328c0fa8ffbfa">size</a>() != 3)</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>            {</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>                <a class="code hl_define" href="_error_8hpp.html#af2aff1172060367b9c5398fa097fa8fd">THROW_INVALID_ARGUMENT_ERROR</a>(<span class="stringliteral">&quot;input inVector must be a cartesion vector of length = 3.&quot;</span>);</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>            }</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span> </div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span> * inVector;</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>        }</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span> </div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a382d4e4c045bce131c5cce634ed077c7">  443</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a382d4e4c045bce131c5cce634ed077c7">rotate</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a>&amp; inVec3)<span class="keyword"> const</span></div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span> * inVec3;</div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>        }</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span> </div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">  454</a></span><span class="comment"></span>        [[nodiscard]] <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>() const noexcept</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>        {</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>            <span class="keywordflow">return</span> components_[3];</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>        }</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span> </div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a7a39f199e4d1ad773b93c69e66ae0415">  468</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a7a39f199e4d1ad773b93c69e66ae0415">slerp</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat1, <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat2, <span class="keywordtype">double</span> inPercent)</div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>        {</div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>            <span class="keywordflow">if</span> (inPercent &lt; 0 || inPercent &gt; 1)</div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>            {</div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>                <a class="code hl_define" href="_error_8hpp.html#af2aff1172060367b9c5398fa097fa8fd">THROW_INVALID_ARGUMENT_ERROR</a>(<span class="stringliteral">&quot;input percent must be of the range [0, 1]&quot;</span>);</div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>            }</div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span> </div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>            <span class="keywordflow">if</span> (<a class="code hl_function" href="namespacenc_1_1utils.html#a963b90e7c9a3b057a924298750ddf74c">utils::essentiallyEqual</a>(inPercent, 0.))</div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>            {</div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>                <span class="keywordflow">return</span> inQuat1;</div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>            }</div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>            <span class="keywordflow">if</span> (<a class="code hl_function" href="namespacenc_1_1utils.html#a963b90e7c9a3b057a924298750ddf74c">utils::essentiallyEqual</a>(inPercent, 1.))</div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>            {</div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>                <span class="keywordflow">return</span> inQuat2;</div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>            }</div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span> </div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>            <span class="keywordtype">double</span> dotProduct = dot&lt;double&gt;(inQuat1.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a68e07632cd09569ad607cb802b400ded">toNdArray</a>(), inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a68e07632cd09569ad607cb802b400ded">toNdArray</a>()).item();</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span> </div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>            <span class="comment">// If the dot product is negative, the quaternions</span></div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>            <span class="comment">// have opposite handed-ness and slerp won&#39;t take</span></div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>            <span class="comment">// the shorter path. Fix by reversing one quaternion.</span></div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>            <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> quat1Copy(inQuat1);</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>            <span class="keywordflow">if</span> (dotProduct &lt; 0.)</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>            {</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>                quat1Copy *= -1.;</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>                dotProduct *= -1.;</div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>            }</div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span> </div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>            <span class="keyword">constexpr</span> <span class="keywordtype">double</span> DOT_THRESHOLD = 0.9995;</div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>            <span class="keywordflow">if</span> (dotProduct &gt; DOT_THRESHOLD)</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>            {</div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>                <span class="comment">// If the inputs are too close for comfort, linearly interpolate</span></div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>                <span class="comment">// and normalize the result.</span></div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>                <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a314478702a3da52f2be3f422057d8732">nlerp</a>(inQuat1, inQuat2, inPercent);</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>            }</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span> </div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>            dotProduct          = <a class="code hl_function" href="namespacenc.html#a5200696e06dadf4eca2f0d7332ed4af1">clip</a>(dotProduct, -1., 1.); <span class="comment">// Robustness: Stay within domain of acos()</span></div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> theta0 = std::acos(dotProduct);     <span class="comment">// angle between input vectors</span></div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> theta  = theta0 * inPercent;        <span class="comment">// angle between v0 and result</span></div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span> </div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> s0 = <a class="code hl_function" href="namespacenc.html#a736de91eb8f79bfaf4dc92d7161f1c87">std::cos</a>(theta) -</div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>                              dotProduct * <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(theta) / <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(theta0); <span class="comment">// == sin(theta_0 - theta) / sin(theta_0)</span></div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> s1 = <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(theta) / <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(theta0);</div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span> </div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> interpQuat = (quat1Copy.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a68e07632cd09569ad607cb802b400ded">toNdArray</a>() * s0) + (inQuat2.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a68e07632cd09569ad607cb802b400ded">toNdArray</a>() * s1);</div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(interpQuat); <span class="comment">// NOLINT(modernize-return-braced-init-list)</span></div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>        }</div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span> </div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a687155cd6469c095941b94a738119da9">  524</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a687155cd6469c095941b94a738119da9">slerp</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat2, <span class="keywordtype">double</span> inPercent)<span class="keyword"> const</span></div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a7a39f199e4d1ad773b93c69e66ae0415">slerp</a>(*<span class="keyword">this</span>, inQuat2, inPercent);</div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>        }</div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span> </div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a0ddeeba7435df3364f262215f24c93c1">  535</a></span><span class="comment"></span>        [[nodiscard]] std::string <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a0ddeeba7435df3364f262215f24c93c1">str</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>            std::string output = <span class="stringliteral">&quot;[&quot;</span> + <a class="code hl_function" href="namespacenc_1_1utils.html#a16a6ad93c420ed7a003d9921bee1a7c6">utils::num2str</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>()) + <span class="stringliteral">&quot;, &quot;</span> + <a class="code hl_function" href="namespacenc_1_1utils.html#a16a6ad93c420ed7a003d9921bee1a7c6">utils::num2str</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>()) + <span class="stringliteral">&quot;, &quot;</span> + <a class="code hl_function" href="namespacenc_1_1utils.html#a16a6ad93c420ed7a003d9921bee1a7c6">utils::num2str</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>()) +</div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span>                                 <span class="stringliteral">&quot;, &quot;</span> + <a class="code hl_function" href="namespacenc_1_1utils.html#a16a6ad93c420ed7a003d9921bee1a7c6">utils::num2str</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>()) + <span class="stringliteral">&quot;]\n&quot;</span>;</div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span> </div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>            <span class="keywordflow">return</span> output;</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>        }</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span> </div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#aaf9230af84ef1133ca9483da561b0450">  549</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aaf9230af84ef1133ca9483da561b0450">toDCM</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> dcm(3);</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span> </div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> q0 = <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>();</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> q1 = <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>();</div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> q2 = <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>();</div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> q3 = <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>();</div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span> </div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> q0sqr = <a class="code hl_function" href="namespacenc_1_1utils.html#ae792e10a24b7e5b8291a6c31a28a4512">utils::sqr</a>(q0);</div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> q1sqr = <a class="code hl_function" href="namespacenc_1_1utils.html#ae792e10a24b7e5b8291a6c31a28a4512">utils::sqr</a>(q1);</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> q2sqr = <a class="code hl_function" href="namespacenc_1_1utils.html#ae792e10a24b7e5b8291a6c31a28a4512">utils::sqr</a>(q2);</div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> q3sqr = <a class="code hl_function" href="namespacenc_1_1utils.html#ae792e10a24b7e5b8291a6c31a28a4512">utils::sqr</a>(q3);</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span> </div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>            dcm(0, 0) = q3sqr + q0sqr - q1sqr - q2sqr;</div>
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>            dcm(0, 1) = 2. * (q0 * q1 - q3 * q2);</div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>            dcm(0, 2) = 2. * (q0 * q2 + q3 * q1);</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span>            dcm(1, 0) = 2. * (q0 * q1 + q3 * q2);</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>            dcm(1, 1) = q3sqr + q1sqr - q0sqr - q2sqr;</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>            dcm(1, 2) = 2. * (q1 * q2 - q3 * q0);</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>            dcm(2, 0) = 2. * (q0 * q2 - q3 * q1);</div>
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>            dcm(2, 1) = 2. * (q1 * q2 + q3 * q0);</div>
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>            dcm(2, 2) = q3sqr + q2sqr - q0sqr - q1sqr;</div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span> </div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>            <span class="keywordflow">return</span> dcm;</div>
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>        }</div>
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span> </div>
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a68e07632cd09569ad607cb802b400ded">  582</a></span><span class="comment"></span>        [[nodiscard]] <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a68e07632cd09569ad607cb802b400ded">toNdArray</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>            <span class="keyword">auto</span> componentsCopy = components_;</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>            <span class="keywordflow">return</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>(componentsCopy); <span class="comment">// NOLINT(modernize-return-braced-init-list)</span></div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>        }</div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span> </div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a30fe8031959271e5b0134a0c562713b4">  595</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a30fe8031959271e5b0134a0c562713b4">xRotation</a>(<span class="keywordtype">double</span> inAngle) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>        {</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>            <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a> eulerAxis = { 1., 0., 0. };</div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(eulerAxis, inAngle); <span class="comment">// NOLINT(modernize-return-braced-init-list)</span></div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>        }</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span> </div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">  607</a></span><span class="comment"></span>        [[nodiscard]] <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a>() const noexcept</div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>        {</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>            <span class="keywordflow">return</span> std::atan2(2. * (<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>() + <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>()), 1. - 2. * (<a class="code hl_function" href="namespacenc_1_1utils.html#ae792e10a24b7e5b8291a6c31a28a4512">utils::sqr</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>()) + <a class="code hl_function" href="namespacenc_1_1utils.html#ae792e10a24b7e5b8291a6c31a28a4512">utils::sqr</a>(<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>())));</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span>        }</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span> </div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a7a59f6daaafd941879abecff8d3a1348">  619</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a7a59f6daaafd941879abecff8d3a1348">yawRotation</a>(<span class="keywordtype">double</span> inAngle) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>        {</div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span>            <span class="keywordflow">return</span> { 0., 0., inAngle };</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>        }</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span> </div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#ab77da90ef63465f79bd79348330ca9a4">  631</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ab77da90ef63465f79bd79348330ca9a4">yRotation</a>(<span class="keywordtype">double</span> inAngle) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno">  632</span>        {</div>
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno">  633</span>            <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a> eulerAxis = { 0., 1., 0. };</div>
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(eulerAxis, inAngle); <span class="comment">// NOLINT(modernize-return-braced-init-list)</span></div>
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno">  635</span>        }</div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span> </div>
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#aaf688fafc4714f1da399e265c8e49a8d">  644</a></span><span class="comment"></span>        <span class="keyword">static</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aaf688fafc4714f1da399e265c8e49a8d">zRotation</a>(<span class="keywordtype">double</span> inAngle) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>        {</div>
<div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span>            <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a> eulerAxis = { 0., 0., 1. };</div>
<div class="line"><a id="l00647" name="l00647"></a><span class="lineno">  647</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(eulerAxis, inAngle); <span class="comment">// NOLINT(modernize-return-braced-init-list)</span></div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>        }</div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span> </div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno">  651</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a82f40acb2292256faffab2b88aa38208">  657</a></span><span class="comment"></span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a82f40acb2292256faffab2b88aa38208">operator==</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">const</span> <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span>        {</div>
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>            <span class="keyword">const</span> <span class="keyword">auto</span> comparitor = [](<span class="keywordtype">double</span> value1, <span class="keywordtype">double</span> value2) <span class="keyword">noexcept</span> -&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span>            { <span class="keywordflow">return</span> <a class="code hl_function" href="namespacenc_1_1utils.html#a963b90e7c9a3b057a924298750ddf74c">utils::essentiallyEqual</a>(value1, value2); };</div>
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno">  661</span> </div>
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="namespacenc_1_1stl__algorithms.html#ab200b92040bf3da8ee4325f5a994e73d">stl_algorithms::equal</a>(components_.begin(), components_.end(), inRhs.components_.begin(), comparitor);</div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>        }</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span> </div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#adcf57fd29d62e19f5c764750262ff7c3">  672</a></span><span class="comment"></span>        <span class="keywordtype">bool</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#adcf57fd29d62e19f5c764750262ff7c3">operator!=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">const</span> <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span>        {</div>
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span>            <span class="keywordflow">return</span> !(*<span class="keyword">this</span> == inRhs);</div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>        }</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span> </div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno">  678</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#accfd9115d723d83ea3deb8ff3aece958">  684</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#accfd9115d723d83ea3deb8ff3aece958">operator+=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>        {</div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>            <a class="code hl_function" href="namespacenc_1_1stl__algorithms.html#a616d5dabd547326285946d0014361ab4">stl_algorithms::transform</a>(components_.begin(),</div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>                                      components_.end(),</div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span>                                      inRhs.components_.begin(),</div>
<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span>                                      components_.begin(),</div>
<div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span>                                      std::plus&lt;double&gt;()); <span class="comment">// NOLINT(modernize-use-transparent-functors)</span></div>
<div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span> </div>
<div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span>            normalize();</div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span> </div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span>        }</div>
<div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span> </div>
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a53c84fdd06a1f980c7c74a185d568156">  704</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a53c84fdd06a1f980c7c74a185d568156">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">const</span> <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno">  705</span>        {</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno">  706</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(*<span class="keyword">this</span>) += inRhs;</div>
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno">  707</span>        }</div>
<div class="line"><a id="l00708" name="l00708"></a><span class="lineno">  708</span> </div>
<div class="line"><a id="l00709" name="l00709"></a><span class="lineno">  709</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00710" name="l00710"></a><span class="lineno">  710</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00716" name="l00716"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#af150a85479ebc3348ed733715bec6084">  716</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#af150a85479ebc3348ed733715bec6084">operator-=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno">  717</span>        {</div>
<div class="line"><a id="l00718" name="l00718"></a><span class="lineno">  718</span>            <a class="code hl_function" href="namespacenc_1_1stl__algorithms.html#a616d5dabd547326285946d0014361ab4">stl_algorithms::transform</a>(components_.begin(),</div>
<div class="line"><a id="l00719" name="l00719"></a><span class="lineno">  719</span>                                      components_.end(),</div>
<div class="line"><a id="l00720" name="l00720"></a><span class="lineno">  720</span>                                      inRhs.components_.begin(),</div>
<div class="line"><a id="l00721" name="l00721"></a><span class="lineno">  721</span>                                      components_.begin(),</div>
<div class="line"><a id="l00722" name="l00722"></a><span class="lineno">  722</span>                                      std::minus&lt;double&gt;()); <span class="comment">// NOLINT(modernize-use-transparent-functors)</span></div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span> </div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno">  724</span>            normalize();</div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span> </div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno">  726</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno">  727</span>        }</div>
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno">  728</span> </div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno">  729</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno">  730</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#ad6eb2370d77e01a944c4b32a48966e76">  736</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ad6eb2370d77e01a944c4b32a48966e76">operator-</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">const</span> <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00737" name="l00737"></a><span class="lineno">  737</span>        {</div>
<div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(*<span class="keyword">this</span>) -= inRhs;</div>
<div class="line"><a id="l00739" name="l00739"></a><span class="lineno">  739</span>        }</div>
<div class="line"><a id="l00740" name="l00740"></a><span class="lineno">  740</span> </div>
<div class="line"><a id="l00741" name="l00741"></a><span class="lineno">  741</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00742" name="l00742"></a><span class="lineno">  742</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a43fe6603ffbaaadf9348910e17e99519">  747</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a43fe6603ffbaaadf9348910e17e99519">operator-</a>() const noexcept</div>
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno">  748</span>        {</div>
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno">  749</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(*<span class="keyword">this</span>) *= -1.;</div>
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno">  750</span>        }</div>
<div class="line"><a id="l00751" name="l00751"></a><span class="lineno">  751</span> </div>
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno">  752</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno">  753</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#af5136e02f6b852d9f91c70c2c6bf66a8">  759</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#af5136e02f6b852d9f91c70c2c6bf66a8">operator*=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno">  760</span>        {</div>
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno">  761</span>            <span class="keywordtype">double</span> q0 = inRhs.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>();</div>
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno">  762</span>            q0 += inRhs.i() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>();</div>
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno">  763</span>            q0 -= inRhs.j() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>();</div>
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno">  764</span>            q0 += inRhs.k() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>();</div>
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno">  765</span> </div>
<div class="line"><a id="l00766" name="l00766"></a><span class="lineno">  766</span>            <span class="keywordtype">double</span> q1 = inRhs.s() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>();</div>
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno">  767</span>            q1 += inRhs.i() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>();</div>
<div class="line"><a id="l00768" name="l00768"></a><span class="lineno">  768</span>            q1 += inRhs.j() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>();</div>
<div class="line"><a id="l00769" name="l00769"></a><span class="lineno">  769</span>            q1 -= inRhs.k() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>();</div>
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno">  770</span> </div>
<div class="line"><a id="l00771" name="l00771"></a><span class="lineno">  771</span>            <span class="keywordtype">double</span> q2 = inRhs.s() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>();</div>
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno">  772</span>            q2 -= inRhs.i() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>();</div>
<div class="line"><a id="l00773" name="l00773"></a><span class="lineno">  773</span>            q2 += inRhs.j() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>();</div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno">  774</span>            q2 += inRhs.k() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>();</div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno">  775</span> </div>
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno">  776</span>            <span class="keywordtype">double</span> q3 = inRhs.s() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a075b6f1befef247f5d638c91e1a451fd">s</a>();</div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno">  777</span>            q3 -= inRhs.i() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5a661b367dff916e8bdb5e28ac608ecd">i</a>();</div>
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno">  778</span>            q3 -= inRhs.j() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#acb62c703a1f96333bf76ad0735cb8b97">j</a>();</div>
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno">  779</span>            q3 -= inRhs.k() * <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#aa2eee61d3a428a558f28d1bb6cc6a048">k</a>();</div>
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno">  780</span> </div>
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno">  781</span>            components_[0] = q0;</div>
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno">  782</span>            components_[1] = q1;</div>
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno">  783</span>            components_[2] = q2;</div>
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno">  784</span>            components_[3] = q3;</div>
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno">  785</span> </div>
<div class="line"><a id="l00786" name="l00786"></a><span class="lineno">  786</span>            normalize();</div>
<div class="line"><a id="l00787" name="l00787"></a><span class="lineno">  787</span> </div>
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno">  788</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno">  789</span>        }</div>
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno">  790</span> </div>
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno">  791</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno">  792</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00799" name="l00799"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#ac2fe3ccf8397a29a3c06622acc6ff725">  799</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ac2fe3ccf8397a29a3c06622acc6ff725">operator*=</a>(<span class="keywordtype">double</span> inScalar) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00800" name="l00800"></a><span class="lineno">  800</span>        {</div>
<div class="line"><a id="l00801" name="l00801"></a><span class="lineno">  801</span>            <a class="code hl_function" href="namespacenc_1_1stl__algorithms.html#a734698435eabdbc5bdf93b195d7fb6a7">stl_algorithms::for_each</a>(components_.begin(),</div>
<div class="line"><a id="l00802" name="l00802"></a><span class="lineno">  802</span>                                     components_.end(),</div>
<div class="line"><a id="l00803" name="l00803"></a><span class="lineno">  803</span>                                     [inScalar](<span class="keywordtype">double</span>&amp; component) { component *= inScalar; });</div>
<div class="line"><a id="l00804" name="l00804"></a><span class="lineno">  804</span> </div>
<div class="line"><a id="l00805" name="l00805"></a><span class="lineno">  805</span>            normalize();</div>
<div class="line"><a id="l00806" name="l00806"></a><span class="lineno">  806</span> </div>
<div class="line"><a id="l00807" name="l00807"></a><span class="lineno">  807</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
<div class="line"><a id="l00808" name="l00808"></a><span class="lineno">  808</span>        }</div>
<div class="line"><a id="l00809" name="l00809"></a><span class="lineno">  809</span> </div>
<div class="line"><a id="l00810" name="l00810"></a><span class="lineno">  810</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00811" name="l00811"></a><span class="lineno">  811</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00817" name="l00817"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#adad6ca92266f6090930addc585900805">  817</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#adad6ca92266f6090930addc585900805">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">const</span> <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00818" name="l00818"></a><span class="lineno">  818</span>        {</div>
<div class="line"><a id="l00819" name="l00819"></a><span class="lineno">  819</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(*<span class="keyword">this</span>) *= inRhs;</div>
<div class="line"><a id="l00820" name="l00820"></a><span class="lineno">  820</span>        }</div>
<div class="line"><a id="l00821" name="l00821"></a><span class="lineno">  821</span> </div>
<div class="line"><a id="l00822" name="l00822"></a><span class="lineno">  822</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00823" name="l00823"></a><span class="lineno">  823</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00830" name="l00830"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#ad63920fa01f5bd4949c0fbb3ff7c7137">  830</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ad63920fa01f5bd4949c0fbb3ff7c7137">operator*</a>(<span class="keywordtype">double</span> inScalar) <span class="keyword">const</span> <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00831" name="l00831"></a><span class="lineno">  831</span>        {</div>
<div class="line"><a id="l00832" name="l00832"></a><span class="lineno">  832</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(*<span class="keyword">this</span>) *= inScalar;</div>
<div class="line"><a id="l00833" name="l00833"></a><span class="lineno">  833</span>        }</div>
<div class="line"><a id="l00834" name="l00834"></a><span class="lineno">  834</span> </div>
<div class="line"><a id="l00835" name="l00835"></a><span class="lineno">  835</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00836" name="l00836"></a><span class="lineno">  836</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00842" name="l00842"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a4f6f72c62379d40b2880a08128a6262e">  842</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a4f6f72c62379d40b2880a08128a6262e">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a>&amp; inVec)<span class="keyword"> const</span></div>
<div class="line"><a id="l00843" name="l00843"></a><span class="lineno">  843</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00844" name="l00844"></a><span class="lineno">  844</span>            <span class="keywordflow">if</span> (inVec.<a class="code hl_function" href="classnc_1_1_nd_array.html#a055875abbe80163ca91328c0fa8ffbfa">size</a>() != 3)</div>
<div class="line"><a id="l00845" name="l00845"></a><span class="lineno">  845</span>            {</div>
<div class="line"><a id="l00846" name="l00846"></a><span class="lineno">  846</span>                <a class="code hl_define" href="_error_8hpp.html#af2aff1172060367b9c5398fa097fa8fd">THROW_INVALID_ARGUMENT_ERROR</a>(<span class="stringliteral">&quot;input vector must be a cartesion vector of length = 3.&quot;</span>);</div>
<div class="line"><a id="l00847" name="l00847"></a><span class="lineno">  847</span>            }</div>
<div class="line"><a id="l00848" name="l00848"></a><span class="lineno">  848</span> </div>
<div class="line"><a id="l00849" name="l00849"></a><span class="lineno">  849</span>            <span class="keyword">const</span> <span class="keyword">auto</span> vecNorm = <a class="code hl_function" href="namespacenc.html#a2b54e033925bd40ebddd4bd30929c1b7">norm</a>(inVec).<a class="code hl_function" href="classnc_1_1_nd_array.html#abec76b8f271e07fa07cc2f88fed676fa">item</a>();</div>
<div class="line"><a id="l00850" name="l00850"></a><span class="lineno">  850</span>            <span class="keywordflow">if</span> (<a class="code hl_function" href="namespacenc_1_1utils.html#a963b90e7c9a3b057a924298750ddf74c">utils::essentiallyEqual</a>(vecNorm, 0.))</div>
<div class="line"><a id="l00851" name="l00851"></a><span class="lineno">  851</span>            {</div>
<div class="line"><a id="l00852" name="l00852"></a><span class="lineno">  852</span>                <span class="keywordflow">return</span> inVec;</div>
<div class="line"><a id="l00853" name="l00853"></a><span class="lineno">  853</span>            }</div>
<div class="line"><a id="l00854" name="l00854"></a><span class="lineno">  854</span> </div>
<div class="line"><a id="l00855" name="l00855"></a><span class="lineno">  855</span>            <span class="keyword">const</span> <span class="keyword">auto</span> p      = <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(inVec[0], inVec[1], inVec[2], 0.);</div>
<div class="line"><a id="l00856" name="l00856"></a><span class="lineno">  856</span>            <span class="keyword">const</span> <span class="keyword">auto</span> pPrime = *<span class="keyword">this</span> * p * this-&gt;<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a9b0634474b2ff27f9443ba256ea00ab1">inverse</a>();</div>
<div class="line"><a id="l00857" name="l00857"></a><span class="lineno">  857</span> </div>
<div class="line"><a id="l00858" name="l00858"></a><span class="lineno">  858</span>            <a class="code hl_class" href="classnc_1_1_nd_array.html">NdArray&lt;double&gt;</a> rotatedVec = { pPrime.i(), pPrime.j(), pPrime.k() };</div>
<div class="line"><a id="l00859" name="l00859"></a><span class="lineno">  859</span>            rotatedVec *= vecNorm;</div>
<div class="line"><a id="l00860" name="l00860"></a><span class="lineno">  860</span>            <span class="keywordflow">return</span> rotatedVec;</div>
<div class="line"><a id="l00861" name="l00861"></a><span class="lineno">  861</span>        }</div>
<div class="line"><a id="l00862" name="l00862"></a><span class="lineno">  862</span> </div>
<div class="line"><a id="l00863" name="l00863"></a><span class="lineno">  863</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00864" name="l00864"></a><span class="lineno">  864</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00870" name="l00870"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a97a81255a6bb91049b1ad7e7b83e2f7f">  870</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a97a81255a6bb91049b1ad7e7b83e2f7f">operator*</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1_vec3.html">Vec3</a>&amp; inVec3)<span class="keyword"> const</span></div>
<div class="line"><a id="l00871" name="l00871"></a><span class="lineno">  871</span><span class="keyword">        </span>{</div>
<div class="line"><a id="l00872" name="l00872"></a><span class="lineno">  872</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span> * inVec3.<a class="code hl_function" href="classnc_1_1_vec3.html#aea160d6b860e0ed5d931c9494229b530">toNdArray</a>();</div>
<div class="line"><a id="l00873" name="l00873"></a><span class="lineno">  873</span>        }</div>
<div class="line"><a id="l00874" name="l00874"></a><span class="lineno">  874</span> </div>
<div class="line"><a id="l00875" name="l00875"></a><span class="lineno">  875</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00876" name="l00876"></a><span class="lineno">  876</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00882" name="l00882"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a6a2a9788df1d79c9e90223c68d5bef55">  882</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a6a2a9788df1d79c9e90223c68d5bef55">operator/=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00883" name="l00883"></a><span class="lineno">  883</span>        {</div>
<div class="line"><a id="l00884" name="l00884"></a><span class="lineno">  884</span>            <span class="keywordflow">return</span> *<span class="keyword">this</span> *= inRhs.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ade406544e8360506bb77102d17b14e61">conjugate</a>();</div>
<div class="line"><a id="l00885" name="l00885"></a><span class="lineno">  885</span>        }</div>
<div class="line"><a id="l00886" name="l00886"></a><span class="lineno">  886</span> </div>
<div class="line"><a id="l00887" name="l00887"></a><span class="lineno">  887</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00888" name="l00888"></a><span class="lineno">  888</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00894" name="l00894"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#ab054e067fc333a48582e291f95120866">  894</a></span><span class="comment"></span>        <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#ab054e067fc333a48582e291f95120866">operator/</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inRhs) <span class="keyword">const</span> <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00895" name="l00895"></a><span class="lineno">  895</span>        {</div>
<div class="line"><a id="l00896" name="l00896"></a><span class="lineno">  896</span>            <span class="keywordflow">return</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a3b6901fb3a079eb9249bd1bf3098c36c">Quaternion</a>(*<span class="keyword">this</span>) /= inRhs;</div>
<div class="line"><a id="l00897" name="l00897"></a><span class="lineno">  897</span>        }</div>
<div class="line"><a id="l00898" name="l00898"></a><span class="lineno">  898</span> </div>
<div class="line"><a id="l00899" name="l00899"></a><span class="lineno">  899</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00900" name="l00900"></a><span class="lineno">  900</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00907" name="l00907"></a><span class="lineno"><a class="line" href="classnc_1_1rotations_1_1_quaternion.html#a25202016ba38847906709881202a8e56">  907</a></span><span class="comment"></span>        <span class="keyword">friend</span> std::ostream&amp; <a class="code hl_friend" href="classnc_1_1rotations_1_1_quaternion.html#a25202016ba38847906709881202a8e56">operator&lt;&lt;</a>(std::ostream&amp; inOStream, <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">Quaternion</a>&amp; inQuat)</div>
<div class="line"><a id="l00908" name="l00908"></a><span class="lineno">  908</span>        {</div>
<div class="line"><a id="l00909" name="l00909"></a><span class="lineno">  909</span>            inOStream &lt;&lt; inQuat.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a0ddeeba7435df3364f262215f24c93c1">str</a>();</div>
<div class="line"><a id="l00910" name="l00910"></a><span class="lineno">  910</span>            <span class="keywordflow">return</span> inOStream;</div>
<div class="line"><a id="l00911" name="l00911"></a><span class="lineno">  911</span>        }</div>
<div class="line"><a id="l00912" name="l00912"></a><span class="lineno">  912</span> </div>
<div class="line"><a id="l00913" name="l00913"></a><span class="lineno">  913</span>    <span class="keyword">private</span>:</div>
<div class="line"><a id="l00914" name="l00914"></a><span class="lineno">  914</span>        <span class="comment">//====================================Attributes==============================</span></div>
<div class="line"><a id="l00915" name="l00915"></a><span class="lineno">  915</span>        std::array&lt;double, 4&gt; components_{ { 0., 0., 0., 1. } };</div>
<div class="line"><a id="l00916" name="l00916"></a><span class="lineno">  916</span> </div>
<div class="line"><a id="l00917" name="l00917"></a><span class="lineno">  917</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00918" name="l00918"></a><span class="lineno">  918</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00921" name="l00921"></a><span class="lineno">  921</span><span class="comment"></span>        <span class="keywordtype">void</span> normalize() noexcept</div>
<div class="line"><a id="l00922" name="l00922"></a><span class="lineno">  922</span>        {</div>
<div class="line"><a id="l00923" name="l00923"></a><span class="lineno">  923</span>            <span class="keywordtype">double</span> sumOfSquares = 0.;</div>
<div class="line"><a id="l00924" name="l00924"></a><span class="lineno">  924</span>            <a class="code hl_function" href="namespacenc_1_1stl__algorithms.html#a734698435eabdbc5bdf93b195d7fb6a7">std::for_each</a>(components_.begin(),</div>
<div class="line"><a id="l00925" name="l00925"></a><span class="lineno">  925</span>                          components_.end(),</div>
<div class="line"><a id="l00926" name="l00926"></a><span class="lineno">  926</span>                          [&amp;sumOfSquares](<span class="keywordtype">double</span> component) noexcept -&gt; <span class="keywordtype">void</span></div>
<div class="line"><a id="l00927" name="l00927"></a><span class="lineno">  927</span>                          { sumOfSquares += utils::sqr(component); });</div>
<div class="line"><a id="l00928" name="l00928"></a><span class="lineno">  928</span> </div>
<div class="line"><a id="l00929" name="l00929"></a><span class="lineno">  929</span>            <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code hl_function" href="namespacenc.html#a2b54e033925bd40ebddd4bd30929c1b7">norm</a> = <a class="code hl_function" href="namespacenc.html#a941a5a1ffb61387495a6f23dc4036287">std::sqrt</a>(sumOfSquares);</div>
<div class="line"><a id="l00930" name="l00930"></a><span class="lineno">  930</span>            <a class="code hl_function" href="namespacenc_1_1stl__algorithms.html#a734698435eabdbc5bdf93b195d7fb6a7">stl_algorithms::for_each</a>(components_.begin(),</div>
<div class="line"><a id="l00931" name="l00931"></a><span class="lineno">  931</span>                                     components_.end(),</div>
<div class="line"><a id="l00932" name="l00932"></a><span class="lineno">  932</span>                                     [<a class="code hl_function" href="namespacenc.html#a2b54e033925bd40ebddd4bd30929c1b7">norm</a>](<span class="keywordtype">double</span>&amp; component) noexcept -&gt; <span class="keywordtype">void</span> { component /= norm; });</div>
<div class="line"><a id="l00933" name="l00933"></a><span class="lineno">  933</span>        }</div>
<div class="line"><a id="l00934" name="l00934"></a><span class="lineno">  934</span> </div>
<div class="line"><a id="l00935" name="l00935"></a><span class="lineno">  935</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00936" name="l00936"></a><span class="lineno">  936</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00943" name="l00943"></a><span class="lineno">  943</span><span class="comment"></span>        <span class="keywordtype">void</span> eulerToQuat(<span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a>, <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a>, <span class="keywordtype">double</span> <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a>) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00944" name="l00944"></a><span class="lineno">  944</span>        {</div>
<div class="line"><a id="l00945" name="l00945"></a><span class="lineno">  945</span>            <span class="keyword">const</span> <span class="keyword">auto</span> halfPhi   = <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a> / 2.;</div>
<div class="line"><a id="l00946" name="l00946"></a><span class="lineno">  946</span>            <span class="keyword">const</span> <span class="keyword">auto</span> halfTheta = <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a> / 2.;</div>
<div class="line"><a id="l00947" name="l00947"></a><span class="lineno">  947</span>            <span class="keyword">const</span> <span class="keyword">auto</span> halfPsi   = <a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a> / 2.;</div>
<div class="line"><a id="l00948" name="l00948"></a><span class="lineno">  948</span> </div>
<div class="line"><a id="l00949" name="l00949"></a><span class="lineno">  949</span>            <span class="keyword">const</span> <span class="keyword">auto</span> sinHalfPhi = <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(halfPhi);</div>
<div class="line"><a id="l00950" name="l00950"></a><span class="lineno">  950</span>            <span class="keyword">const</span> <span class="keyword">auto</span> cosHalfPhi = <a class="code hl_function" href="namespacenc.html#a736de91eb8f79bfaf4dc92d7161f1c87">std::cos</a>(halfPhi);</div>
<div class="line"><a id="l00951" name="l00951"></a><span class="lineno">  951</span> </div>
<div class="line"><a id="l00952" name="l00952"></a><span class="lineno">  952</span>            <span class="keyword">const</span> <span class="keyword">auto</span> sinHalfTheta = <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(halfTheta);</div>
<div class="line"><a id="l00953" name="l00953"></a><span class="lineno">  953</span>            <span class="keyword">const</span> <span class="keyword">auto</span> cosHalfTheta = <a class="code hl_function" href="namespacenc.html#a736de91eb8f79bfaf4dc92d7161f1c87">std::cos</a>(halfTheta);</div>
<div class="line"><a id="l00954" name="l00954"></a><span class="lineno">  954</span> </div>
<div class="line"><a id="l00955" name="l00955"></a><span class="lineno">  955</span>            <span class="keyword">const</span> <span class="keyword">auto</span> sinHalfPsi = <a class="code hl_function" href="namespacenc.html#a3fa4e582cdeef0716309ad51378f2983">std::sin</a>(halfPsi);</div>
<div class="line"><a id="l00956" name="l00956"></a><span class="lineno">  956</span>            <span class="keyword">const</span> <span class="keyword">auto</span> cosHalfPsi = <a class="code hl_function" href="namespacenc.html#a736de91eb8f79bfaf4dc92d7161f1c87">std::cos</a>(halfPsi);</div>
<div class="line"><a id="l00957" name="l00957"></a><span class="lineno">  957</span> </div>
<div class="line"><a id="l00958" name="l00958"></a><span class="lineno">  958</span>            components_[0] = sinHalfPhi * cosHalfTheta * cosHalfPsi;</div>
<div class="line"><a id="l00959" name="l00959"></a><span class="lineno">  959</span>            components_[0] -= cosHalfPhi * sinHalfTheta * sinHalfPsi;</div>
<div class="line"><a id="l00960" name="l00960"></a><span class="lineno">  960</span> </div>
<div class="line"><a id="l00961" name="l00961"></a><span class="lineno">  961</span>            components_[1] = cosHalfPhi * sinHalfTheta * cosHalfPsi;</div>
<div class="line"><a id="l00962" name="l00962"></a><span class="lineno">  962</span>            components_[1] += sinHalfPhi * cosHalfTheta * sinHalfPsi;</div>
<div class="line"><a id="l00963" name="l00963"></a><span class="lineno">  963</span> </div>
<div class="line"><a id="l00964" name="l00964"></a><span class="lineno">  964</span>            components_[2] = cosHalfPhi * cosHalfTheta * sinHalfPsi;</div>
<div class="line"><a id="l00965" name="l00965"></a><span class="lineno">  965</span>            components_[2] -= sinHalfPhi * sinHalfTheta * cosHalfPsi;</div>
<div class="line"><a id="l00966" name="l00966"></a><span class="lineno">  966</span> </div>
<div class="line"><a id="l00967" name="l00967"></a><span class="lineno">  967</span>            components_[3] = cosHalfPhi * cosHalfTheta * cosHalfPsi;</div>
<div class="line"><a id="l00968" name="l00968"></a><span class="lineno">  968</span>            components_[3] += sinHalfPhi * sinHalfTheta * sinHalfPsi;</div>
<div class="line"><a id="l00969" name="l00969"></a><span class="lineno">  969</span>        }</div>
<div class="line"><a id="l00970" name="l00970"></a><span class="lineno">  970</span> </div>
<div class="line"><a id="l00971" name="l00971"></a><span class="lineno">  971</span>        <span class="comment">//============================================================================</span></div>
<div class="line"><a id="l00972" name="l00972"></a><span class="lineno">  972</span>        <span class="comment">// Method Description:</span></div>
<div class="line"><a id="l00977" name="l00977"></a><span class="lineno">  977</span><span class="comment"></span>        <span class="keywordtype">void</span> dcmToQuat(<span class="keyword">const</span> NdArray&lt;double&gt;&amp; dcm)</div>
<div class="line"><a id="l00978" name="l00978"></a><span class="lineno">  978</span>        {</div>
<div class="line"><a id="l00979" name="l00979"></a><span class="lineno">  979</span>            <span class="keyword">const</span> Shape inShape = dcm.shape();</div>
<div class="line"><a id="l00980" name="l00980"></a><span class="lineno">  980</span>            <span class="keywordflow">if</span> (!(inShape.rows == 3 &amp;&amp; inShape.cols == 3))</div>
<div class="line"><a id="l00981" name="l00981"></a><span class="lineno">  981</span>            {</div>
<div class="line"><a id="l00982" name="l00982"></a><span class="lineno">  982</span>                <a class="code hl_define" href="_error_8hpp.html#af2aff1172060367b9c5398fa097fa8fd">THROW_INVALID_ARGUMENT_ERROR</a>(<span class="stringliteral">&quot;input direction cosine matrix must have shape = (3,3).&quot;</span>);</div>
<div class="line"><a id="l00983" name="l00983"></a><span class="lineno">  983</span>            }</div>
<div class="line"><a id="l00984" name="l00984"></a><span class="lineno">  984</span> </div>
<div class="line"><a id="l00985" name="l00985"></a><span class="lineno">  985</span>            NdArray&lt;double&gt; checks(1, 4);</div>
<div class="line"><a id="l00986" name="l00986"></a><span class="lineno">  986</span>            checks[0] = 1 + dcm(0, 0) + dcm(1, 1) + dcm(2, 2);</div>
<div class="line"><a id="l00987" name="l00987"></a><span class="lineno">  987</span>            checks[1] = 1 + dcm(0, 0) - dcm(1, 1) - dcm(2, 2);</div>
<div class="line"><a id="l00988" name="l00988"></a><span class="lineno">  988</span>            checks[2] = 1 - dcm(0, 0) + dcm(1, 1) - dcm(2, 2);</div>
<div class="line"><a id="l00989" name="l00989"></a><span class="lineno">  989</span>            checks[3] = 1 - dcm(0, 0) - dcm(1, 1) + dcm(2, 2);</div>
<div class="line"><a id="l00990" name="l00990"></a><span class="lineno">  990</span> </div>
<div class="line"><a id="l00991" name="l00991"></a><span class="lineno">  991</span>            <span class="keyword">const</span> <a class="code hl_typedef" href="namespacenc.html#af0f49663fb63332596e2e6327009d581">uint32</a> maxIdx = <a class="code hl_function" href="namespacenc.html#a9bd808dce04134c3a70d0cb202f94464">argmax</a>(checks).item();</div>
<div class="line"><a id="l00992" name="l00992"></a><span class="lineno">  992</span> </div>
<div class="line"><a id="l00993" name="l00993"></a><span class="lineno">  993</span>            <span class="keywordflow">switch</span> (maxIdx)</div>
<div class="line"><a id="l00994" name="l00994"></a><span class="lineno">  994</span>            {</div>
<div class="line"><a id="l00995" name="l00995"></a><span class="lineno">  995</span>                <span class="keywordflow">case</span> 0:</div>
<div class="line"><a id="l00996" name="l00996"></a><span class="lineno">  996</span>                {</div>
<div class="line"><a id="l00997" name="l00997"></a><span class="lineno">  997</span>                    components_[3] = 0.5 * <a class="code hl_function" href="namespacenc.html#a941a5a1ffb61387495a6f23dc4036287">std::sqrt</a>(1 + dcm(0, 0) + dcm(1, 1) + dcm(2, 2));</div>
<div class="line"><a id="l00998" name="l00998"></a><span class="lineno">  998</span>                    components_[0] = (dcm(2, 1) - dcm(1, 2)) / (4 * components_[3]);</div>
<div class="line"><a id="l00999" name="l00999"></a><span class="lineno">  999</span>                    components_[1] = (dcm(0, 2) - dcm(2, 0)) / (4 * components_[3]);</div>
<div class="line"><a id="l01000" name="l01000"></a><span class="lineno"> 1000</span>                    components_[2] = (dcm(1, 0) - dcm(0, 1)) / (4 * components_[3]);</div>
<div class="line"><a id="l01001" name="l01001"></a><span class="lineno"> 1001</span> </div>
<div class="line"><a id="l01002" name="l01002"></a><span class="lineno"> 1002</span>                    <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l01003" name="l01003"></a><span class="lineno"> 1003</span>                }</div>
<div class="line"><a id="l01004" name="l01004"></a><span class="lineno"> 1004</span>                <span class="keywordflow">case</span> 1:</div>
<div class="line"><a id="l01005" name="l01005"></a><span class="lineno"> 1005</span>                {</div>
<div class="line"><a id="l01006" name="l01006"></a><span class="lineno"> 1006</span>                    components_[0] = 0.5 * <a class="code hl_function" href="namespacenc.html#a941a5a1ffb61387495a6f23dc4036287">std::sqrt</a>(1 + dcm(0, 0) - dcm(1, 1) - dcm(2, 2));</div>
<div class="line"><a id="l01007" name="l01007"></a><span class="lineno"> 1007</span>                    components_[1] = (dcm(1, 0) + dcm(0, 1)) / (4 * components_[0]);</div>
<div class="line"><a id="l01008" name="l01008"></a><span class="lineno"> 1008</span>                    components_[2] = (dcm(2, 0) + dcm(0, 2)) / (4 * components_[0]);</div>
<div class="line"><a id="l01009" name="l01009"></a><span class="lineno"> 1009</span>                    components_[3] = (dcm(2, 1) - dcm(1, 2)) / (4 * components_[0]);</div>
<div class="line"><a id="l01010" name="l01010"></a><span class="lineno"> 1010</span> </div>
<div class="line"><a id="l01011" name="l01011"></a><span class="lineno"> 1011</span>                    <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l01012" name="l01012"></a><span class="lineno"> 1012</span>                }</div>
<div class="line"><a id="l01013" name="l01013"></a><span class="lineno"> 1013</span>                <span class="keywordflow">case</span> 2:</div>
<div class="line"><a id="l01014" name="l01014"></a><span class="lineno"> 1014</span>                {</div>
<div class="line"><a id="l01015" name="l01015"></a><span class="lineno"> 1015</span>                    components_[1] = 0.5 * <a class="code hl_function" href="namespacenc.html#a941a5a1ffb61387495a6f23dc4036287">std::sqrt</a>(1 - dcm(0, 0) + dcm(1, 1) - dcm(2, 2));</div>
<div class="line"><a id="l01016" name="l01016"></a><span class="lineno"> 1016</span>                    components_[0] = (dcm(1, 0) + dcm(0, 1)) / (4 * components_[1]);</div>
<div class="line"><a id="l01017" name="l01017"></a><span class="lineno"> 1017</span>                    components_[2] = (dcm(2, 1) + dcm(1, 2)) / (4 * components_[1]);</div>
<div class="line"><a id="l01018" name="l01018"></a><span class="lineno"> 1018</span>                    components_[3] = (dcm(0, 2) - dcm(2, 0)) / (4 * components_[1]);</div>
<div class="line"><a id="l01019" name="l01019"></a><span class="lineno"> 1019</span> </div>
<div class="line"><a id="l01020" name="l01020"></a><span class="lineno"> 1020</span>                    <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l01021" name="l01021"></a><span class="lineno"> 1021</span>                }</div>
<div class="line"><a id="l01022" name="l01022"></a><span class="lineno"> 1022</span>                <span class="keywordflow">case</span> 3:</div>
<div class="line"><a id="l01023" name="l01023"></a><span class="lineno"> 1023</span>                {</div>
<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span>                    components_[2] = 0.5 * <a class="code hl_function" href="namespacenc.html#a941a5a1ffb61387495a6f23dc4036287">std::sqrt</a>(1 - dcm(0, 0) - dcm(1, 1) + dcm(2, 2));</div>
<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</span>                    components_[0] = (dcm(2, 0) + dcm(0, 2)) / (4 * components_[2]);</div>
<div class="line"><a id="l01026" name="l01026"></a><span class="lineno"> 1026</span>                    components_[1] = (dcm(2, 1) + dcm(1, 2)) / (4 * components_[2]);</div>
<div class="line"><a id="l01027" name="l01027"></a><span class="lineno"> 1027</span>                    components_[3] = (dcm(1, 0) - dcm(0, 1)) / (4 * components_[2]);</div>
<div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span> </div>
<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"> 1029</span>                    <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span>                }</div>
<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span>            }</div>
<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span>        }</div>
<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span>    };</div>
<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span>} <span class="comment">// namespace nc::rotations</span></div>
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<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a184f5c55ea78128aec0ad4f72b4d5a59"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a184f5c55ea78128aec0ad4f72b4d5a59">nc::rotations::Quaternion::angleOfRotation</a></div><div class="ttdeci">double angleOfRotation() const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:176</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a25202016ba38847906709881202a8e56"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a25202016ba38847906709881202a8e56">nc::rotations::Quaternion::operator&lt;&lt;</a></div><div class="ttdeci">friend std::ostream &amp; operator&lt;&lt;(std::ostream &amp;inOStream, const Quaternion &amp;inQuat)</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:907</div></div>
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<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a3ec3451b38b4ec0e10c1e9229685c8b7"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a3ec3451b38b4ec0e10c1e9229685c8b7">nc::rotations::Quaternion::angularVelocity</a></div><div class="ttdeci">NdArray&lt; double &gt; angularVelocity(const Quaternion &amp;inQuat2, double inTime) const</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:225</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a43fe6603ffbaaadf9348910e17e99519"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a43fe6603ffbaaadf9348910e17e99519">nc::rotations::Quaternion::operator-</a></div><div class="ttdeci">Quaternion operator-() const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:747</div></div>
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<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a50d742e97e4eb6bf156623b544d5b0a1"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a50d742e97e4eb6bf156623b544d5b0a1">nc::rotations::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(const std::array&lt; double, 4 &gt; &amp;components) noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:98</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a53c84fdd06a1f980c7c74a185d568156"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a53c84fdd06a1f980c7c74a185d568156">nc::rotations::Quaternion::operator+</a></div><div class="ttdeci">Quaternion operator+(const Quaternion &amp;inRhs) const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:704</div></div>
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<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a5b5cef534a39badf5d3079ee642e675c"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">nc::rotations::Quaternion::yaw</a></div><div class="ttdeci">double yaw() const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:607</div></div>
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<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a687155cd6469c095941b94a738119da9"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a687155cd6469c095941b94a738119da9">nc::rotations::Quaternion::slerp</a></div><div class="ttdeci">Quaternion slerp(const Quaternion &amp;inQuat2, double inPercent) const</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:524</div></div>
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<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a81b7db9d5e593a61272e09ce7dcc1325"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a81b7db9d5e593a61272e09ce7dcc1325">nc::rotations::Quaternion::Quaternion</a></div><div class="ttdeci">Quaternion(const NdArray&lt; double &gt; &amp;inAxis, double inAngle)</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:165</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a82f40acb2292256faffab2b88aa38208"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a82f40acb2292256faffab2b88aa38208">nc::rotations::Quaternion::operator==</a></div><div class="ttdeci">bool operator==(const Quaternion &amp;inRhs) const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:657</div></div>
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<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_aeef47bcd4879e9727ac33838aaac3112"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#aeef47bcd4879e9727ac33838aaac3112">nc::rotations::Quaternion::angularVelocity</a></div><div class="ttdeci">static NdArray&lt; double &gt; angularVelocity(const Quaternion &amp;inQuat1, const Quaternion &amp;inQuat2, double inTime)</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:191</div></div>
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